/*
 * ****************************************************************************
 * Copyright (c) 2013, Daniel Murphy All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification, are permitted
 * provided that the following conditions are met:
 * * Redistributions of source code must retain the above copyright notice, this list of conditions
 *   and the following disclaimer.
 * * Redistributions in binary form must reproduce the above copyright notice, this list of
 *   conditions and the following disclaimer in the documentation and/or other materials provided
 *   with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
 * WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * ****************************************************************************
 */
/*
 * JBox2D - A Java Port of Erin Catto's Box2D
 *
 * JBox2D homepage: http://jbox2d.sourceforge.net/
 * Box2D homepage: http://www.box2d.org
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
 * arising from the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 * 1. The origin of this software must not be misrepresented; you must not
 * claim that you wrote the original software. If you use this software
 * in a product, an acknowledgment in the product documentation would be
 * appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 * misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 */
package org.jbox2d.dynamics.joints

import org.jbox2d.common.Vec2
import org.jbox2d.dynamics.Body

/**
 * Revolute joint definition. This requires defining an anchor point where the bodies are joined.
 * The definition uses local anchor points so that the initial configuration can violate the
 * constraint slightly. You also need to specify the initial relative angle for joint limits. This
 * helps when saving and loading a game. The local anchor points are measured from the body's origin
 * rather than the center of mass because:<br></br>
 * * you might not know where the center of mass will be.
 * * if you add/remove shapes from a body and recompute the mass, the joints will be broken.
 */
class RevoluteJointDef : JointDef() {
  /** The local anchor point relative to body1's origin. */
  var localAnchorA: Vec2

  /** The local anchor point relative to body2's origin. */
  var localAnchorB: Vec2

  /** The body2 angle minus body1 angle in the reference state (radians). */
  var referenceAngle: Float

  /** A flag to enable joint limits. */
  var enableLimit: Boolean

  /** The lower angle for the joint limit (radians). */
  var lowerAngle: Float

  /** The upper angle for the joint limit (radians). */
  var upperAngle: Float

  /** A flag to enable the joint motor. */
  var enableMotor: Boolean

  /** The desired motor speed. Usually in radians per second. */
  var motorSpeed: Float

  /** The maximum motor torque used to achieve the desired motor speed. Usually in N-m. */
  var maxMotorTorque: Float

  init {
    type = JointType.REVOLUTE
    localAnchorA = Vec2(0.0f, 0.0f)
    localAnchorB = Vec2(0.0f, 0.0f)
    referenceAngle = 0.0f
    lowerAngle = 0.0f
    upperAngle = 0.0f
    maxMotorTorque = 0.0f
    motorSpeed = 0.0f
    enableLimit = false
    enableMotor = false
  }

  /**
   * Initialize the bodies, anchors, and reference angle using the world anchor.
   *
   * @param b1
   * @param b2
   * @param anchor
   */
  fun initialize(b1: Body, b2: Body, anchor: Vec2) {
    bodyA = b1
    bodyB = b2
    bodyA!!.getLocalPointToOut(anchor, localAnchorA)
    bodyB!!.getLocalPointToOut(anchor, localAnchorB)
    referenceAngle = bodyB!!.getAngle() - bodyA!!.getAngle()
  }
}
